Shift control method, control device and vehicle

Abstract

The application discloses a gear shifting control method, a control device and a vehicle, and is applied to a vehicle with electric power driving. The control method comprises the following steps: obtaining a gear switching instruction of the vehicle; determining a gear shifting condition of the vehicle according to the gear switching instruction; monitoring a shift fork position and a shift fork moving speed of the vehicle according to the gear shifting condition; determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork moving speed; monitoring an actual motor rotating speed of the vehicle according to the motor speed regulation stage; and controlling the gear switching of the vehicle based on a corresponding relationship between the actual motor rotating speed and a target motor rotating speed. The gear shifting control method provided by the application can optimize the gear shifting process, ensure the safety and reliability of gear shifting under the premise of meeting the system safety and reliability, and thus improve the experience of the driver.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a gear shift control method, a control device and a vehicle. Background Art

[0002] With the development of society, pure electric vehicles and hybrid vehicles with electric motor drives are becoming increasingly widespread. In the commercial vehicle sector, electric drive systems generally configure the motor with a multi-speed solution to meet the power requirements of commercial vehicles with high torque starting. How to achieve rapid gear shifting during the gear shifting process of the electric drive system is a key focus of electric drive system control. Usually, when the motor needs to switch gears, the motor torque is controlled to zero, the shift fork is controlled to the neutral position, the motor speed is adjusted after the gear is shifted, and after the motor speed regulation is synchronized, the shift fork is controlled to engage the gear, and the torque is restored after the gear engagement judgment is completed. The above five action processes need to be performed during the motor gear switching process, and each action takes a certain amount of time, making the power interruption process more easily perceived by the user. Summary of the Invention

[0003] The present invention provides a control method, control device and vehicle for motor gear shifting. By optimizing the gear shifting process, the position and speed of the shift fork are monitored when the gear disengagement conditions are met, and the actual speed of the vehicle's motor is monitored during the motor speed regulation stage. The temporal overlap of these two actions ensures the safety and reliability of gear shifting, thereby improving the driver's experience.

[0004] According to a first aspect of the present invention, a shift control method is provided, which is applied to a vehicle with electric drive, and the control method includes:

[0005] Obtaining a gear shift instruction for the vehicle;

[0006] determining a gear shifting condition for the vehicle according to the gear shifting instruction;

[0007] monitoring the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition;

[0008] determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed;

[0009] monitoring the actual speed of the motor of the vehicle according to the motor speed regulation stage;

[0010] The gear switching of the vehicle is controlled based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0011] Optionally, determining a gear shifting condition of the vehicle according to the gear shifting instruction includes:

[0012] Controlling the vehicle to shift gears and clear torque according to the gear shift instruction;

[0013] A gear-disengaging condition of the vehicle is determined based on a relationship between a motor reduction torque request of the vehicle and a first threshold value of the gear-disengaging torque clearance.

[0014] Optionally, determining the gear-disengaging condition of the vehicle according to the relationship between the motor torque reduction request of the vehicle and the first threshold value of the gear-disengaging torque clearance further includes:

[0015] Obtaining the actual torque of the motor of the vehicle;

[0016] When the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear-shift clearance, it is determined that the vehicle meets the first gear-shift condition.

[0017] Optionally, when the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear shift clearance, it is determined that the vehicle meets the first gear shift condition, and the method further includes:

[0018] When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the third threshold for gear-disengaging torque clearance, it is determined that the vehicle meets a second gear-disengaging condition; wherein the third threshold is less than the second threshold, the first gear-disengaging condition includes controlling the shift fork to enter a pre-start state, and the second gear-disengaging condition includes controlling the shift fork to enter a gear-disengaging state.

[0019] Optionally, determining the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed includes:

[0020] Obtaining the shift fork position and shift fork speed;

[0021] When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, determining that the motor enters the first speed regulation stage;

[0022] When the shift fork is in the neutral position, it is determined that the motor enters the second speed regulation stage; wherein, the first speed regulation stage includes controlling the control torque corresponding to the motor to be a fifth threshold, and the second speed regulation stage includes controlling the control torque corresponding to the motor to be a sixth threshold.

[0023] Optionally, monitoring the actual motor speed of the vehicle according to the motor speed regulation stage; and controlling the gear switching of the vehicle based on a correspondence between the actual motor speed and the target motor speed includes:

[0024] monitoring the actual speed of the motor and the synchronous speed of the motor,

[0025] When the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets a first gear shifting condition.

[0026] Optionally, when the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets the first gear shifting condition, and the method further includes:

[0027] When the actual speed of the motor is equal to the synchronous speed of the motor, it is determined that the vehicle meets the second shifting condition, wherein the first shifting condition includes controlling the shifting system to enter a pre-start state, and the second shifting condition includes controlling the vehicle to shift gears.

[0028] Optionally, when the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage, further comprising:

[0029] When the shift fork position coincides with the expected position and the actual speed of the motor is inconsistent with the synchronous speed of the motor, the shift system is stopped and enters a pre-start state.

[0030] According to a second aspect of the present invention, a shift control device is provided, the control device being configured to execute the shift control method described in any one of the first aspects of the present invention, the control device comprising:

[0031] An acquisition module, configured to acquire a gear shift instruction of the vehicle;

[0032] a judgment module, configured to monitor the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition; and determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork speed;

[0033] A control module is used to monitor the actual speed of the motor of the vehicle according to the motor speed regulation stage; and control the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0034] According to a third aspect of the present invention, a vehicle is provided, comprising the gear shift control device according to the second aspect of the present invention.

[0035] The present invention discloses a gear shift control method, a control device, and a vehicle, which are applied to vehicles with electric drive. The control method includes: obtaining a gear shift instruction of the vehicle; determining a gear disengagement condition of the vehicle according to the gear shift instruction; monitoring a shift fork position and a shift fork speed of the vehicle according to the gear disengagement condition; determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork speed; monitoring the actual motor speed of the vehicle according to the motor speed regulation stage; and controlling the gear shift of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed. The present invention provides a motor gear shift control method, a control device, and a vehicle. By optimizing the gear shift process, the shift fork position and the shift speed are monitored when the gear disengagement condition is met, and the actual motor speed of the vehicle is monitored during the motor speed regulation stage. The temporal overlap of these two actions ensures the safety and reliability of gear shifting, thereby improving the driver's experience.

[0036] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a flow chart of a motor shift control method provided by an embodiment of the present invention;

[0039] Figure 2 This is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0040] Figure 3 This is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0041] Figure 4 This is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0042] Figure 5 This is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0043] Figure 6 This is a flow chart of another motor shift control method provided by an embodiment of the present invention;

[0044] Figure 7 This is a block diagram of a gear shift control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0048] Figure 1 This is a flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 1 The motor shift control method provided by the embodiment of the present invention is applied to a vehicle driven by a motor. The motor shift control method includes:

[0049] S1. Obtaining a vehicle gear shift instruction.

[0050] Specifically, when the driver needs the vehicle to shift gears, a shift command is sent to the vehicle's controller and a torque clearing command of a specified range is sent to the motor. The torque clearing command of a specified range refers to the process of reducing the motor torque to 0 within a specific time period. Only after the motor torque is reduced to 0 can normal gear shifting operations be performed.

[0051] S2. Determine the gear shifting condition of the vehicle according to the gear shifting instruction.

[0052] Specifically, it is determined whether the vehicle has a gear shifting condition according to the gear shifting instruction received in the above step S1. Gear shifting refers to controlling the vehicle's transmission to be in a neutral position by a vehicle controller to achieve gear shifting of the vehicle.

[0053] S3. Monitor the shift fork position and shift fork speed of the vehicle according to the shift disengagement conditions.

[0054] Among them, the shift fork is a mechanical device used to change the vehicle's gear transmission device, mainly used to shift gears in the vehicle.

[0055] Specifically, the shift fork position and the shift fork movement rate of the vehicle are monitored while the vehicle satisfies the shift disengagement condition determined in step S2.

[0056] S4. Determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0057] Specifically, according to the shift fork position and shift fork speed monitored in step S3 above, when the shift fork reaches the specified position, the vehicle enters the motor speed regulation stage, where motor speed regulation refers to adjusting the motor speed of the vehicle.

[0058] S5. Monitor the actual motor speed of the vehicle according to the motor speed regulation stage.

[0059] Specifically, the actual speed of the motor of the vehicle is monitored during the motor speed regulation phase of the vehicle.

[0060] S6. Controlling gear switching of the vehicle based on a correspondence between the actual speed of the motor and the target speed of the motor.

[0061] Specifically, the actual motor speed monitored in the above step S5 is received, and the corresponding relationship between the actual motor speed and the target motor speed is compared. When the actual motor speed is consistent with the target motor speed, the vehicle controller controls the shift fork to perform normal gear shifting operation to complete the gear shifting operation of the vehicle.

[0062] Optionally, after controlling the gear switching of the vehicle based on the correspondence between the actual speed of the motor and the target speed of the motor, the method further includes:

[0063] Control the vehicle's torque to return to the initial torque.

[0064] Specifically, after the gear shifting operation is completed in the above step S6, the torque of the motor is controlled to be restored to the initial torque to achieve normal driving of the vehicle.

[0065] An embodiment of the present invention provides a gear shift control method. By optimizing the gear shift process, the shift fork position and shift speed are monitored when the gear disengagement conditions are met, and the actual motor speed of the vehicle is monitored during the motor speed regulation stage. The temporal overlap of these two actions ensures the safety and reliability of gear shifting, thereby improving the driver's experience.

[0066] Based on the above-mentioned embodiment of the invention, the embodiment of the present invention further refines the conditions for determining the vehicle's gear shifting according to the gear shift instruction. Figure 2 This is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 2 , the shift control method provided by the embodiment of the present invention includes:

[0067] S21. Obtaining a gear shift instruction of the vehicle.

[0068] S22: Control the vehicle to shift gears and clear torque according to the gear shift instruction.

[0069] Specifically, after receiving the gear switching instruction in step S21, the vehicle controller controls the motor to shift gears and clear torque according to the gear switching instruction, that is, to reduce the motor driving torque to 0.

[0070] S23 : Determine a gear-disengaging condition for the vehicle based on a relationship between a torque reduction request of the motor of the vehicle and a first threshold value for gear-disengaging torque clearance.

[0071] Specifically, the motor reduction request torque of the vehicle is determined based on the gear shifting and torque clearing of the motor in the above-mentioned step S22. The motor reduction request torque refers to the reduction of the vehicle's motor driving torque to an expected value. Whether the vehicle meets the gear shifting condition is determined based on the relationship between the motor reduction request torque and the first threshold of gear shifting and torque clearing. Further, when the motor reduction request torque is less than the first threshold of gear shifting and torque clearing, it is determined that the vehicle meets the gear shifting condition. For example, when the gear shifting and torque clearing reaches 0, it indicates that normal vehicle gear shifting can be performed. Since the entire motor system has a delay, in an embodiment of the present invention, the first threshold can be set to 10%, that is, when the motor reduction request torque is less than 10% of the motor torque (that is, the first threshold is 10%), the action is started in advance to comprehensively save the overall gear shifting time. The specific size of the first threshold can be set according to actual conditions, and the embodiment of the present invention does not limit the first threshold.

[0072] S24. Monitor the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition.

[0073] S25. Determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0074] S26. Monitor the actual motor speed of the vehicle according to the motor speed regulation stage.

[0075] S27, controlling the gear shifting of the vehicle based on a corresponding relationship between the actual motor speed and the target motor speed of the motor.

[0076] On the basis of the above-mentioned embodiments, the embodiments of the present application further refine the determination of the vehicle's range shifting condition according to the relationship between the motor reduction request torque and the first threshold of the range shifting torque, Figure 3 is another flowchart of the control method of the motor shifting provided by the embodiments of the present application Figure 3 The control method of the shifting provided by the embodiments of the present application further comprises:

[0077] S31, obtaining a gear shifting instruction of the vehicle.

[0078] S32, controlling the vehicle to perform the range shifting torque according to the gear shifting instruction.

[0079] S33, obtaining the actual motor torque of the vehicle.

[0080] Specifically, after the vehicle is subjected to the range shifting torque in the above-mentioned step S32, the motor torque of the vehicle gradually decreases, and the actual motor torque of the vehicle is obtained.

[0081] S34, when the motor reduction request torque is less than the first threshold and the actual motor torque is less than the second threshold of the range shifting torque, it is determined that the vehicle satisfies the first range shifting condition; for example, when the motor reduction request torque is less than 5% of the motor torque (i.e. the second threshold is 5%), the pre-action is started to comprehensively save the overall time of the shifting, and the size of the second threshold can be set according to the actual situation, and the embodiments of the present application do not limit the second threshold.

[0082] Specifically, when the motor reduction request torque is less than the first threshold and the actual motor torque is less than the second threshold of the range shifting torque, it is determined that the vehicle satisfies the first range shifting condition, wherein the first range shifting condition comprises controlling the fork to enter the pre-start state.

[0083] S35, monitoring the fork position and the fork moving speed of the vehicle according to the range shifting condition.

[0084] S36, determining the motor speed regulation stage of the vehicle according to the fork position and the fork moving speed.

[0085] S37, monitoring the actual motor speed of the vehicle according to the motor speed regulation stage.

[0086] S38, controlling the gear shifting of the vehicle based on a corresponding relationship between the actual motor speed and the target motor speed of the motor.

[0087] Based on the above-mentioned embodiment of the invention, the embodiment of the present invention further refines the determination that the vehicle meets the first gear-shifting condition when the motor reduction request torque is less than the first threshold and the motor actual torque is less than the second gear-shifting clearance torque threshold. Figure 4 This is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 4 , the shift control method provided by the embodiment of the present invention includes:

[0088] S41: Obtain a gear shift instruction of the vehicle.

[0089] S42: Control the vehicle to shift gears and clear torque according to the gear shift instruction.

[0090] S43: Obtain the actual torque of the motor of the vehicle.

[0091] S44: When the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear-shift clearance, it is determined that the vehicle meets the first gear-shift condition.

[0092] S45. When the motor's requested torque reduction is less than the first threshold and the motor's actual torque is less than the third threshold for gear shifting, it is determined that the vehicle meets the second gear shifting condition. For example, when the motor's requested torque reduction is less than 3% of the motor's torque (i.e., the third threshold is 3%), pre-action is started to comprehensively save the overall gear shifting time. The specific size of the third threshold can be set according to actual conditions, and the embodiment of the present invention does not limit the third threshold.

[0093] Specifically, after the vehicle satisfies the first gear disengagement condition in step S44, the motor torque of the vehicle gradually decreases. When the motor reduction request torque is less than the first threshold and the actual motor torque is less than the third gear disengagement threshold, it is determined that the vehicle satisfies the second gear disengagement condition. The second gear disengagement condition includes controlling the shift fork to enter a gear disengagement state to achieve rapid gear disengagement of the shift fork. The third threshold is less than the second threshold. It can be understood that the vehicle first enters the first gear disengagement condition, and as the motor torque of the vehicle gradually decreases, the vehicle enters the second gear disengagement condition.

[0094] S45. Monitor the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition.

[0095] S36: Determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0096] S37. Monitor the actual motor speed of the vehicle according to the motor speed regulation stage.

[0097] S38. Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0098] Based on the above-mentioned embodiment of the invention, the embodiment of the present invention further refines the determination of the motor speed regulation stage of the vehicle according to the position of the shift fork and the speed of the shift fork. Figure 5 This is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 5 , the shift control method provided by the embodiment of the present invention includes:

[0099] S51: Obtain a gear shift instruction of the vehicle.

[0100] S52: Determine a gear shifting condition for the vehicle according to the gear shifting instruction.

[0101] S53: Monitor the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition.

[0102] S54: Obtain the shift fork position and shift fork speed.

[0103] Specifically, the shift fork position and shift fork speed monitored in real time in step S53 are acquired and received.

[0104] S55: When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, it is determined that the motor enters the first speed regulation stage.

[0105] Specifically, when it is monitored that the shift fork moves to the desired position and the movement rate of the shift fork is greater than or equal to the fourth threshold, it is determined that the motor enters the first speed regulation stage, and the motor is requested to enter the speed mode and the motor is requested to respond to the speed request. The first speed regulation stage includes controlling the control torque corresponding to the motor to be the fifth threshold. The fifth threshold can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0106] S56: When the shift fork is in the neutral position, it is determined that the motor enters the second speed regulation stage.

[0107] Specifically, when it is monitored that the shift fork is in the neutral position, it is determined that the motor enters the second speed regulation stage, and the motor is requested to enter the speed mode and the motor is requested to respond to the speed request. The second speed regulation stage includes controlling the control torque corresponding to the motor to be the sixth threshold value. The sixth threshold value can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0108] S57. Monitor the actual motor speed of the vehicle according to the motor speed regulation stage.

[0109] S58 : Controlling the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

[0110] Based on the above-mentioned embodiments of the invention, the embodiments of the present invention further refine the process of monitoring the actual motor speed of the vehicle according to the motor speed regulation stage and controlling the gear shift of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed. Figure 6 This is another flow chart of a motor shift control method provided by an embodiment of the present invention, refer to Figure 6 , the shift control method provided by the embodiment of the present invention includes:

[0111] S61: Obtain a gear shift instruction of the vehicle.

[0112] S62: Determine a gear shifting condition for the vehicle according to the gear shifting instruction.

[0113] S63. Monitor the shift fork position and shift fork movement speed of the vehicle according to the shift disengagement condition.

[0114] S64: Determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed.

[0115] S65, monitor the actual motor speed and the synchronous motor speed.

[0116] Specifically, after the vehicle enters the motor speed regulation stage in the above step S64, the actual motor speed and the motor synchronous speed are monitored in real time. The motor synchronous speed refers to the state where the motor rotor speed is the same as the stator rotating magnetic field speed when the motor is running stably.

[0117] S66: When the difference between the actual motor speed and the synchronous motor speed is less than the first gear advance speed difference threshold, it is determined that the vehicle meets the first gear shifting condition.

[0118] Specifically, the gear-entry speed difference refers to a manually set speed difference threshold for more precise motor control. When the difference between the actual motor speed and the target motor speed is less than this threshold, the motor is considered to have reached the designated gear-entry position. When the difference between the actual motor speed and the synchronous motor speed is less than the first gear-entry speed difference threshold, the vehicle is considered to have met the first gear shift condition, which includes controlling the gear shift system to enter a pre-start state.

[0119] S67: When the actual motor speed is equal to the motor synchronous speed, it is determined that the vehicle meets the second gear shifting condition.

[0120] Specifically, when the real-time monitored actual motor speed is equal to the motor synchronous speed, it is determined that the vehicle meets the second shifting condition, wherein the second shifting condition includes controlling the vehicle to shift gears and quickly completing the shifting action.

[0121] Optionally, in the above step S55, when the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to the fourth threshold, it is determined that the motor enters the first speed regulation stage, further comprising:

[0122] When the shift fork position coincides with the desired position and the actual motor speed is inconsistent with the motor synchronous speed, the shift system stops and enters the pre-start state.

[0123] Specifically, when the control fork moves to the desired position, the motor has not yet completed synchronization, that is, when the actual motor speed is inconsistent with the motor synchronous speed, the pre-start state of the motor is immediately stopped to avoid safety accidents such as vehicle gear knocking.

[0124] According to the same inventive concept, Figure 7 This is a block diagram of a shift control device provided by an embodiment of the present invention, refer to Figure 7 An embodiment of the present invention provides a shift control device, the control device being used to execute any of the shift control methods of the above-mentioned embodiments of the invention, the control device comprising:

[0125] Acquisition module 1 is used to obtain the vehicle's gear shift instruction.

[0126] The judgment module 2 is used to monitor the vehicle's shift fork position and shift fork speed according to the shifting condition; and determine the vehicle's motor speed regulation stage according to the shift fork position and shift fork speed.

[0127] The control module 3 is used to monitor the actual motor speed of the vehicle according to the motor speed regulation stage; and control the gear switching of the vehicle based on the corresponding relationship between the actual motor speed and the target motor speed.

[0128] A gear shift control device provided in an embodiment of the present invention can achieve the same technical effect as a gear shift control method provided in the above-mentioned embodiment of the invention, and will not be described in detail here.

[0129] According to the same inventive concept, an embodiment of the present invention provides a vehicle, comprising the gear shifting control device in the above-mentioned embodiment of the invention.

[0130] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A gear shift control method, characterized in that: Applied to vehicles with electric drive, the control method includes: Obtaining a gear shift instruction for the vehicle; determining a gear shifting condition for the vehicle according to the gear shifting instruction; monitoring the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition; determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed; monitoring the actual speed of the motor of the vehicle according to the motor speed regulation stage; controlling the gear switching of the vehicle based on a correspondence between the actual speed of the motor and the target speed of the motor; Determining the gear shifting condition of the vehicle according to the gear shifting instruction includes: Controlling the vehicle to shift gears and clear torque according to the gear shift instruction; determining a gear-disengaging condition of the vehicle according to a relationship between a torque reduction request of a motor of the vehicle and a first threshold value of the gear-disengaging torque clearance; Determining the gear-disengaging condition of the vehicle according to the relationship between the motor torque reduction request of the vehicle and the first threshold value of the gear-disengaging torque clearance further includes: Obtaining the actual torque of the motor of the vehicle; When the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear-shift clearance, it is determined that the vehicle meets the first gear-shift condition; Determining a motor speed regulation stage of the vehicle according to the shift fork position and the shift fork movement speed includes: Obtaining the shift fork position and shift fork speed; When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, determining that the motor enters the first speed regulation stage; When the shift fork is in the neutral position, it is determined that the motor enters the second speed regulation stage; wherein, the first speed regulation stage includes controlling the control torque corresponding to the motor to be a fifth threshold, and the second speed regulation stage includes controlling the control torque corresponding to the motor to be a sixth threshold.

2. The gear shift control method according to claim 1, characterized in that: When the motor reduction torque request is less than the first threshold and the motor actual torque is less than the second threshold for gear-shifting clearance torque, it is determined that the vehicle meets the first gear-shifting condition, and the method further includes: When the motor reduction request torque is less than the first threshold and the motor actual torque is less than the third threshold for gear-disengaging torque clearance, it is determined that the vehicle meets a second gear-disengaging condition; wherein the third threshold is less than the second threshold, the first gear-disengaging condition includes controlling the shift fork to enter a pre-start state, and the second gear-disengaging condition includes controlling the shift fork to enter a gear-disengaging state.

3. The shift control method according to claim 1, characterized in that: monitoring the actual speed of the motor of the vehicle according to the motor speed regulation stage; Controlling the gear switching of the vehicle based on the correspondence between the actual speed of the motor and the target speed of the motor includes: monitoring the actual speed of the motor and the synchronous speed of the motor, When the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets a first gear shifting condition.

4. The shift control method according to claim 3, characterized in that: When the difference between the actual speed of the motor and the synchronous speed of the motor is less than a first gear advance speed difference threshold, it is determined that the vehicle meets the first gear shifting condition, and the method further includes: When the actual speed of the motor is equal to the synchronous speed of the motor, it is determined that the vehicle meets the second shifting condition, wherein the first shifting condition includes controlling the shifting system to enter a pre-start state, and the second shifting condition includes controlling the vehicle to shift gears.

5. The gear shift control method according to claim 4, characterized in that: When the shift fork position coincides with the expected position and the shift fork movement speed is greater than or equal to a fourth threshold, determining that the motor enters the first speed regulation stage further includes: When the shift fork position coincides with the expected position and the actual speed of the motor is inconsistent with the synchronous speed of the motor, the shift system is stopped and enters a pre-start state.

6. A gear shift control device, characterized in that: The control device is used to execute the shift control method according to any one of claims 1 to 5, and the control device includes: An acquisition module, configured to acquire a gear shift instruction of the vehicle; a judgment module, configured to monitor the shift fork position and shift fork speed of the vehicle according to the shift disengagement condition; and determine the motor speed regulation stage of the vehicle according to the shift fork position and the shift fork speed; A control module is used to monitor the actual speed of the motor of the vehicle according to the motor speed regulation stage; and control the gear switching of the vehicle based on the corresponding relationship between the actual speed of the motor and the target speed of the motor.

7. A vehicle, characterized in that: A gear shift control device comprising the gear shift control device according to claim 6.

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